function vf_cl = f_tt_vector(t, x, lsiObj)
% Computes the closed-loop vector field using LSysInfo obj.
ndof = length(x)/2;
dq = x(ndof+1:end);

xD = D_mat(x);
xC = C_mat(x);
xG = G_vec(x);
xB  = eye(ndof);

% Control Fields
vf    = [dq; xD \ (-xC*dq - xG)];
gf    = [0*xB; xD \ xB];

u = -lsiObj.getControl(t, x);

vf_cl = vf + gf * u;

%[lsiObj.getDesiredState(t) x]'

end
